Motor control device

A motor control device including a motor that includes multi-phase coils and that generates torque corresponding to a current for energizing the multi-phase coils, a current sensor that detects a current value of a current for energizing at least one predetermined coil of the multi-phase coils and that outputs a signal corresponding to the detected current value, and a controller that obtains a current value of a current flowing through the predetermined coil by adding an origin learning value to the signal input from the current sensor and that controls a current for energizing the predetermined coil based on the obtained current value, wherein the controller is configured to

• obtain, each time the origin learning value is changed by a predetermined value, an amplitude of a predetermined order in a q-axis current of the motor based on the changed origin learning value and the signal input from the current sensor, and
• correct the origin learning value based on the origin learning value at the time when the amplitude switches from a decreasing tendency to an increasing tendency,
• wherein the amplitude of the predetermined order is obtained by performing a fast Fourier transform on the q-axis current.